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United States Patent | 5,126,645 |
Yoshimi ,   et al. | June 30, 1992 |
A grinder robot having a grinder can be operated by both of a force control and a position control to grind a workpiece surface quickly and acccurately. When the grinder has not reached a target grinding point position to finish grindings, force loop drive control means are selected to drive the grinder in order to grind a work by a force control. After a grinding point ground by the grinder has reached the target position, then, position drive control means are selected to drive the grinder by a position control in order to execute precise grindings. A grinding amount in every grinding in a force control area is relatively large and a grinding speed in every grinding in a position control area is relatively fast. As a result, a workpiece can be ground quickly and accurately by the grinder robot.
Inventors: | Yoshimi; Takashi (Tiba, JP); Jinno; Makoto (Kanagawa, JP) |
Assignee: | Kabushiki Kaisha Toshiba (Kawasaki, JP) |
Appl. No.: | 589517 |
Filed: | September 28, 1990 |
Sep 30, 1989[JP] | 1-255461 |
Current U.S. Class: | 318/568.11; 318/568.22; 318/570; 318/571; 318/578; 700/161; 901/41 |
Intern'l Class: | G05B 019/42 |
Field of Search: | 318/568.1,568.11,568.16,568.17,568.18,571,572,603,625,568.22,39 364/474.06 228/102 |
3859760 | Jan., 1975 | Grieb et al. | 318/603. |
4630214 | Dec., 1986 | Barney et al. | 318/39. |
4817848 | Apr., 1989 | Gabaldon | 228/102. |
4826392 | May., 1989 | Hayati | 318/625. |
4894597 | Jan., 1990 | Ohtomi | 318/568. |
4904152 | Feb., 1990 | Doi et al. | 318/568. |
Foreign Patent Documents | |||
0107147 | May., 1984 | EP. | |
WO88/03460 | May., 1988 | WO. |